(19)
(11) EP 2 105 708 A3

(12) EUROPEAN PATENT APPLICATION

(88) Date of publication A3:
30.11.2011 Bulletin 2011/48

(43) Date of publication A2:
30.09.2009 Bulletin 2009/40

(21) Application number: 09004261.5

(22) Date of filing: 25.03.2009
(51) International Patent Classification (IPC): 
G01C 21/32(2006.01)
B60W 40/06(2006.01)
 G06F 17/30(2006.01)
(84) Designated Contracting States:
AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR
Designated Extension States:
AL BA RS

(30) Priority: 28.03.2008 JP 2008087892
28.03.2008 JP 2008087902

(71) Applicant: Aisin AW Co., Ltd.
Fujii-cho Anjo-shi, Aichi 444-1192 (JP)

(72) Inventors:
  • Fukumoto, Masataka
    Okazaki-shi, Aichi 444-8564 (JP)
  • Sugiura, Hiroaki
    Okazaki-shi, Aichi 444-8564 (JP)
  • Toujyou, Takayuki
    Okazaki-shi, Aichi 444-8564 (JP)

(74) Representative: Kramer - Barske - Schmidtchen 
Landsberger Strasse 300
80687 München
80687 München (DE)

   


(54) Road shape estimating device, road shape estimating method and program


(57) A road shape estimating device has a data obtaining processing unit (31) that is adapted to obtain interpolation point data of a plurality of shape interpolation points (mi) which represent a shape of a road (r1-r10), a radius calculation processing unit (31) that is adapted to calculate a radius (R) of curvature at each of shape interpolation points (mi) based on the interpolation point data, a corner detection processing unit (31) that is adapted to detect a corner (cn1) based on the radius (R) of curvature, and a corner dividing processing unit (31) that is adapted to obtain segment lengths (Lc11) of segments between respective shape interpolation points (m5, m6) in the corner (cn1) and performing dividing of the corner (cn1) by a segment having a segment length (Lc11) equal to or larger than a threshold which is set corresponding to an average value of the respective segment lengths (Lc11). Since dividing of a corner (cn1) is performed by a segment having a segment length (Lc11) equal to or larger than the threshold, dividing of the corner (cn1) can be performed appropriately.







Search report